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ShunjiHashimoto / tang

収穫サポートロボットTANG
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Opencvで赤色検出【Python3】 #21

Closed ShunjiHashimoto closed 3 years ago

ShunjiHashimoto commented 3 years ago

２値化できない 

threshold_img = cv2.threshold(gray_img, 80, 255, cv2.THRESH_BINARY) # 2値化、
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 56, in <module>
    main()
  File "./particle.py", line 52, in main
    video.readVideo()
  File "./particle.py", line 44, in readVideo
    cv2.imshow(window_name, threshold_img)
cv2.error: OpenCV(4.5.3) :-1: error: (-5:Bad argument) in function 'imshow'
> Overload resolution failed:
>  - mat is not a numerical tuple
>  - Expected Ptr<cv::cuda::GpuMat> for argument 'mat'
>  - Expected Ptr<cv::UMat> for argument 'mat'
ShunjiHashimoto commented 3 years ago

返り値を増やすとエラー解消 

ret, threshold_img = cv2.threshold(gray_img, 80, 255, cv2.THRESH_BINARY) # 2値化、
ShunjiHashimoto commented 3 years ago

findContours()できない 

contours_img, contours = cv2.findContours(threshold_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 71, in <module>
    main()
  File "./particle.py", line 67, in main
    video.readVideo()
  File "./particle.py", line 54, in readVideo
    max_area_contour = self.maxContours(contours)
  File "./particle.py", line 21, in maxContours
    area = cv2.contourArea(contours[i])
cv2.error: OpenCV(4.5.3) /tmp/pip-req-build-tjxnaiom/opencv/modules/imgproc/src/shapedescr.cpp:315: error: (-215:Assertion failed) npoints >= 0 && (depth == CV_32F || depth == CV_32S) in function 'contourArea'
ShunjiHashimoto commented 3 years ago

出力の順番間違えてた

contours, hierarchy = cv2.findContours(threshold_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
ShunjiHashimoto commented 3 years ago 
circle_img = cv2.circle(circle_img,center,radius,(0,255,0),2)
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 74, in <module>
    main()
  File "./particle.py", line 70, in main
    video.readVideo()
  File "./particle.py", line 59, in readVideo
    circle_img = cv2.circle(circle_img,center,radius,(0,255,0),2)
UnboundLocalError: local variable 'circle_img' referenced before assignment
ShunjiHashimoto commented 3 years ago

第一引数は円を描きたい画像を選択する

cv2.circle(masked_img,center,radius,(0,255,0),2)
ShunjiHashimoto commented 3 years ago

赤色がないとき、具体的にはmax_area_contoursが-1のときプログラムが終了する

ShunjiHashimoto commented 3 years ago

前

if(max_area_contour == -1): return

後

if(max_area_contour == -1): continue

に変更した

ShunjiHashimoto commented 3 years ago

大体はできたが、まだ処理が汚いので整理する必要がある

ShunjiHashimoto commented 3 years ago

import ropkgができない

hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 6, in <module>
    import rospy
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/__init__.py", line 49, in <module>
    from .client import spin, myargv, init_node, \
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/client.py", line 52, in <module>
    import roslib
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
    from roslib.launcher import load_manifest  # noqa: F401
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
    import rospkg
ModuleNotFoundError: No module named 'rospkg'
ShunjiHashimoto commented 3 years ago

python2からpython3に変更する必要がある

pythonと打ってpython3を使う方法 参考文献：https://mixcubenet.com/linux/change_default_python_version_to_python3_on_ubuntu/

import rospkgをできるようにする方法
⇒ シンプルにpython3用のrospkgが足りなかった説

sudo pip3 install rospkg catkin_pkg

参考文献：https://masato-ka.hatenablog.com/entry/2019/07/17/065000

ShunjiHashimoto commented 3 years ago

その他のやり方
参考文献：https://qiita.com/jmtsn/items/866a601424131c923b75 

hashimoto@hashimoto:~$ pip3 install numpy
Collecting numpy
  Downloading https://files.pythonhosted.org/packages/45/b2/6c7545bb7a38754d63048c7696804a0d947328125d81bf12beaa692c3ae3/numpy-1.19.5-cp36-cp36m-manylinux1_x86_64.whl (13.4MB)
    100% |████████████████████████████████| 13.4MB 144kB/s 
Installing collected packages: numpy
Successfully installed numpy-1.19.5
hashimoto@hashimoto:~$ pip3 show numpy
Name: numpy
Version: 1.19.5
Summary: NumPy is the fundamental package for array computing with Python.
Home-page: https://www.numpy.org
Author: Travis E. Oliphant et al.
Author-email: None
License: BSD
Location: /home/hashimoto/.local/lib/python3.6/site-packages
Requires: 
hashimoto@hashimoto:~$ export PYTHONPATH=/home/hashimoto/.local/lib/python3.6/site-packages
hashimoto@hashimoto:~$ echo $PYTHONPATH
/home/hashimoto/.local/lib/python3.6/site-packages
hashimoto@hashimoto:~$ cm
Traceback (most recent call last):
  File "/opt/ros/melodic/bin/catkin_make", line 13, in <module>
    from catkin.builder import apply_platform_specific_defaults  # noqa: E402
ModuleNotFoundError: No module named 'catkin'
hashimoto@hashimoto:~/catkin_ws$ catkin clean
catkin: コマンドが見つかりません
hashimoto@hashimoto:~/catkin_ws$ catkin clean
catkin: コマンドが見つかりません
hashimoto@hashimoto:~/catkin_ws$ ls
build  devel  src
hashimoto@hashimoto:~/catkin_ws$ cd ..
hashimoto@hashimoto:~$ catkin clean
catkin: コマンドが見つかりません
hashimoto@hashimoto:~$ cs
hashimoto@hashimoto:~/catkin_ws/src$ catkin clean
catkin: コマンドが見つかりません
hashimoto@hashimoto:~/catkin_ws/src$ source ~/.bashrc
hashimoto@hashimoto:~/catkin_ws/src$ catkin clean
catkin: コマンドが見つかりません
hashimoto@hashimoto:~/catkin_ws/src$ catkin clean
catkin: コマンドが見つかりません
hashimoto@hashimoto:~/catkin_ws/src$ echo $PYTHONPATH
/home/hashimoto/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages:/home/hashimoto/.local/lib/python3.6/site-packages
hashimoto@hashimoto:~/catkin_ws/src$ cm
Base path: /home/hashimoto/catkin_ws
Source space: /home/hashimoto/catkin_ws/src
Build space: /home/hashimoto/catkin_ws/build
Devel space: /home/hashimoto/catkin_ws/devel
Install space: /home/hashimoto/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/hashimoto/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/hashimoto/catkin_ws/build"
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hashimoto@hashimoto:~/catkin_ws$ echo $PYTHONPATH
/home/hashimoto/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages:/home/hashimoto/.local/lib/python3.6/site-packages
hashimoto@hashimoto:~/catkin_ws$
ShunjiHashimoto commented 3 years ago

python2からpython3に変更する必要がある

pythonと打ってpython3を使う方法 参考文献：https://mixcubenet.com/linux/change_default_python_version_to_python3_on_ubuntu/

import rospkgをできるようにする方法 ⇒ シンプルにpython3用のrospkgが足りなかった説

sudo pip3 install rospkg catkin_pkg

参考文献：https://masato-ka.hatenablog.com/entry/2019/07/17/065000

hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ sudo pip3 install rospkg catkin_pkg
[sudo] hashimoto のパスワード: 
WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.
Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.
To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.

警告が出るが、そのまま待つとインストールが開始する

ShunjiHashimoto commented 3 years ago

python3.6.9 -> python3.8に変更
参考文献：https://qiita.com/syu-kwsk/items/5ba485edabd19fb99d4d

ShunjiHashimoto commented 3 years ago

python 3.8にすると、numpyがバグった

hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/numpy/core/__init__.py", line 16, in <module>
    from . import multiarray
ImportError: cannot import name 'multiarray' from partially initialized module 'numpy.core' (most likely due to a circular import) (/usr/lib/python3/dist-packages/numpy/core/__init__.py)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "./particle.py", line 4, in <module>
    import numpy as np
  File "/usr/lib/python3/dist-packages/numpy/__init__.py", line 142, in <module>
    from . import add_newdocs
  File "/usr/lib/python3/dist-packages/numpy/add_newdocs.py", line 13, in <module>
    from numpy.lib import add_newdoc
  File "/usr/lib/python3/dist-packages/numpy/lib/__init__.py", line 8, in <module>
    from .type_check import *
  File "/usr/lib/python3/dist-packages/numpy/lib/type_check.py", line 11, in <module>
    import numpy.core.numeric as _nx
  File "/usr/lib/python3/dist-packages/numpy/core/__init__.py", line 26, in <module>
    raise ImportError(msg)
ImportError: 
Importing the multiarray numpy extension module failed.  Most
likely you are trying to import a failed build of numpy.
If you're working with a numpy git repo, try `git clean -xdf` (removes all
files not under version control).  Otherwise reinstall numpy.

Original error was: cannot import name 'multiarray' from partially initialized module 'numpy.core' (most likely due to a circular import) (/usr/lib/python3/dist-packages/numpy/core/__init__.py)
ShunjiHashimoto commented 3 years ago

python 3.6.9に戻し、source /opt/ros/melodic/setup.bashするともとに戻った 

hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ sudo update-alternatives --config python3
[sudo] hashimoto のパスワード: 
alternative python3 (/usr/bin/python3 を提供) には 2 個の選択肢があります。

  選択肢    パス              優先度  状態
------------------------------------------------------------
  0            /usr/bin/python3.6   2         自動モード
  1            /usr/bin/python3.6   2         手動モード
* 2            /usr/bin/python3.8   1         手動モード

現在の選択 [*] を保持するには <Enter>、さもなければ選択肢の番号のキーを押してください: 0
update-alternatives: /usr/bin/python3 (python3) を提供するために自動モードで /usr/bin/python3.6 を使います
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 6, in <module>
    import rospy
ModuleNotFoundError: No module named 'rospy'
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ source ~/.bashrc
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ echo $PYTHONPATH
/home/hashimoto/.local/lib/python3.8/site-packages
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ source ~/.bashrc
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 6, in <module>
    import rospy
ModuleNotFoundError: No module named 'rospy'
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ python3 --version 
Python 3.6.9
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ python3
Python 3.6.9 (default, Jan 26 2021, 15:33:00) 
[GCC 8.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import rospy
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ModuleNotFoundError: No module named 'rospy'
>>> 
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ pip3 show numpy
Name: numpy
Version: 1.19.5
Summary: NumPy is the fundamental package for array computing with Python.
Home-page: https://www.numpy.org
Author: Travis E. Oliphant et al.
Author-email: 
License: BSD
Location: /home/hashimoto/.local/lib/python3.6/site-packages
Requires: 
Required-by: scipy, opencv-python, opencv-contrib-python, matplotlib
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ export PYTHONPATH=/home/hashimoto/.local/lib/python3.6/site-packages
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 6, in <module>
    import rospy
ModuleNotFoundError: No module named 'rospy'
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 4, in <module>
    sys.append('/home/hashimoto/.local/lib/python3.6/site-packages')
AttributeError: module 'sys' has no attribute 'append'
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 7, in <module>
    import rospy
ModuleNotFoundError: No module named 'rospy'
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
Traceback (most recent call last):
  File "./particle.py", line 6, in <module>
    import rospy
ModuleNotFoundError: No module named 'rospy'
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ source /opt/ros/melodic/setup.bash
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ ./particle.py 
^CTraceback (most recent call last):
  File "./particle.py", line 73, in <module>
    video.readVideo()
  File "./particle.py", line 66, in readVideo
    if cv2.waitKey(delay) & 0xFF == ord('q'): # qが押されると終了
KeyboardInterrupt
ShunjiHashimoto commented 3 years ago 
hashimoto@desktop:~/catkin_ws/src/cugo/cugo_detection/scripts$ echo $PYTHONPATH
/opt/ros/melodic/lib/python2.7/dist-packages:/home/hashimoto/.local/lib/python3.6/site-packages
ShunjiHashimoto commented 3 years ago

roscoreできなくなった 

hashimoto@desktop:~/catkin_ws/src/cugo$ roscore
Traceback (most recent call last):
  File "/opt/ros/melodic/bin/roscore", line 36, in <module>
    from rosmaster.master_api import NUM_WORKERS
ModuleNotFoundError: No module named 'rosmaster'
ShunjiHashimoto commented 3 years ago

一応治った 参考文献：https://answers.ros.org/question/372612/when-ever-i-run-roscore-this-error-prompts-how-can-i-fix-this-issue-please-provide-a-solution/ 

hashimoto@desktop:~/catkin_ws/src/cugo$ sudo pip install defusedxml
hashimoto@desktop:~/catkin_ws/src/cugo$ source ~/.bashrc
hashimoto@desktop:~/catkin_ws/src/cugo$ source /opt/ros/melodic/setup.bash
hashimoto@desktop:~/catkin_ws/src/cugo$ roscore
ShunjiHashimoto commented 3 years ago

roslaunch できなくなった

hashimoto@desktop:~/catkin_ws/src/cugo$ roslaunch cubase cubase.launch
RLException: [cubase.launch] is neither a launch file in package [cubase] nor is [cubase] a launch file name
The traceback for the exception was written to the log file
ShunjiHashimoto commented 3 years ago

パスを通した

hashimoto@desktop:~/catkin_ws/src/cugo$ source ~/catkin_ws/devel/setup.bash
ShunjiHashimoto commented 3 years ago

赤色のしきい値を自動で決めてくれる大津の手法

ret2, img_otsu = cv2.threshold(img, 0, 255, cv2.THRESH_OTSU)
ShunjiHashimoto commented 3 years ago

Screenshot from 2021-08-13 08-40-18 ブロブ解析を使うことで赤色検出精度向上
参考文献：https://algorithm.joho.info/programming/python/opencv-color-tracking-py/

ShunjiHashimoto commented 3 years ago 
# 2値画像のラベリング処理
        label = cv2.connectedComponentsWithStats(binary_img)

Screenshot from 2021-08-13 08-52-43 https://axa.biopapyrus.jp/ia/opencv/object-detection.html
https://imagingsolution.blog.fc2.com/blog-entry-193.html

ShunjiHashimoto commented 3 years ago

cv2.connectedComponentsWithStatsの使い方 Screenshot from 2021-08-14 10-21-49 label[0] ・・・ ラベル数
label[1] ・・・ labelimages
label[2] ・・・ data(x,y,w,h,size)
label[3] ・・・ center

ShunjiHashimoto commented 3 years ago

赤色をcv2.connectedComponentsWithStats使って、円を描画、近くなれば円が大きくなる Screenshot from 2021-08-14 10-39-30

ShunjiHashimoto commented 3 years ago

Opencv3で赤色検出が成功したため、Closedとする 次はパーティクルフィルタを用いる